EP 3903080 B1 20220511 - TACTILE SENSOR
Title (en)
TACTILE SENSOR
Title (de)
TAKTILER SENSOR
Title (fr)
CAPTEUR TACTILE
Publication
Application
Priority
- US 201916598106 A 20191010
- JP 2020038413 W 20201006
Abstract (en)
[origin: US2021107165A1] A tactile sensor including a cap having a top surface and an undersurface. The undersurface includes pins, each pin has a mark. A portion of the undersurface is attachable to a device. A camera positioned in view of the marks, captures images of the marks placed in motion by elastic deformation of the top surface of the cap. A processor receives the captured images and determines a set of relative positions of the marks in the captured images, by identifying measured image coordinates of locations in images of the captured images. Determine a net force tensor acting on the top surface using a stored machine vision algorithm, by matching the set of relative positions of the marks to a stored set of previously learned relative positions of the marks placed in motion. Control the device via a controller in response to the net force tensor determined in the processor.
IPC 8 full level
G01L 1/24 (2006.01); B25J 9/16 (2006.01); G01L 5/166 (2020.01); G01L 5/22 (2006.01)
CPC (source: CN EP US)
B25J 9/16 (2013.01 - CN); B25J 9/1694 (2013.01 - CN); B25J 9/1697 (2013.01 - EP); B25J 13/084 (2013.01 - US); B25J 19/02 (2013.01 - CN); B25J 19/023 (2013.01 - US); G01L 1/04 (2013.01 - US); G01L 1/24 (2013.01 - EP); G01L 1/241 (2013.01 - EP); G01L 5/0061 (2013.01 - CN); G01L 5/166 (2013.01 - EP); G01L 5/226 (2013.01 - EP); G01L 5/228 (2013.01 - EP); G06T 7/74 (2016.12 - US); G05B 2219/40575 (2013.01 - EP); G05B 2219/40625 (2013.01 - EP); G06T 2207/30204 (2013.01 - US)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
US 11472040 B2 20221018; US 2021107165 A1 20210415; CN 114502937 A 20220513; EP 3903080 A1 20211103; EP 3903080 B1 20220511; JP 2022546642 A 20221104; JP 7278493 B2 20230519; WO 2021070967 A1 20210415
DOCDB simple family (application)
US 201916598106 A 20191010; CN 202080070165 A 20201006; EP 20807526 A 20201006; JP 2020038413 W 20201006; JP 2022538568 A 20201006